The TeleKyb framework for a modular and extendible ROS-based quadrotor control

Volker Grabe, Martin Riedel, Heinrich H. Bulthoff, Paolo Robuffo Giordano, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

39 Citations (Scopus)

Abstract

The free and open source Tele-Operation Platform of the MPI for Biological Cybernetics (TeleKyb) is an end-to-end software framework for the development of bilateral teleoperation systems between human interfaces (e.g., haptic force feedback devices or gamepads) and groups of quadrotor Unmanned Aerial Vehicles (UAVs). Among drivers for devices and robots from various hardware manufactures, TeleKyb provides a high-level closed-loop robotic controller for mobile robots that can be extended dynamically with modules for state estimation, trajectory planning, processing, and tracking. Since all internal communication is based on the Robot Operating System (ROS), TeleKyb can be easily extended to meet future needs. The capabilities of the overall framework are demonstrated in both an experimental validation of the controller for an individual quadrotor and a complex experimental setup involving bilateral human-robot interaction and shared formation control of multiple UAVs.

Original languageEnglish
Title of host publication2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings
PublisherIEEE Computer Society
Pages19-25
Number of pages7
ISBN (Print)9781479902637
DOIs
Publication statusPublished - 2013
Event2013 6th European Conference on Mobile Robots, ECMR 2013 - Barcelona, Spain
Duration: 2013 Sep 252013 Sep 27

Publication series

Name2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings

Other

Other2013 6th European Conference on Mobile Robots, ECMR 2013
CountrySpain
CityBarcelona
Period13/9/2513/9/27

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Fingerprint Dive into the research topics of 'The TeleKyb framework for a modular and extendible ROS-based quadrotor control'. Together they form a unique fingerprint.

  • Cite this

    Grabe, V., Riedel, M., Bulthoff, H. H., Giordano, P. R., & Franchi, A. (2013). The TeleKyb framework for a modular and extendible ROS-based quadrotor control. In 2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings (pp. 19-25). [6698814] (2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings). IEEE Computer Society. https://doi.org/10.1109/ECMR.2013.6698814